CN113329720A

CN113329720A - Method for controlling an orthopaedic or prosthetic device and orthopaedic or prosthetic device

Info

Publication number: CN113329720A
Application number: CN202080009350.8A
Authority: CN
Inventors: D·塞弗特; J-P·梅吉亚尼诺
Original assignee: Otto Bock Healthcare Products GmbH
Current assignee: Otto Bock Healthcare Products GmbH
Priority date: 2019-01-17
Filing date: 2020-01-16
Publication date: 2021-08-31
Anticipated expiration: 2040-01-16
Also published as: DE102019101143A1; EP3911282B1; US20220071780A1; EP3911282A1; WO2020148373A1; CN113329720B; DE102019101143B4

Abstract

The present invention relates to a method and such a device (10) for controlling an orthopaedic or prosthetic device (10) which can be worn on a user's body and which can be fixed on the user's body , the orthopaedic or prosthetic device has: a. an articulation device (20), the articulation device has a proximal part (21) and a distal part (22), the proximal part and the distal part can be wound around the pivot shafts (25) are pivotably supported on each other; b. at least one adjustable actuator (30), which is arranged between the proximal part (21) and the distal part (22), and By means of said actuator, the kinematic characteristics with respect to the oscillation of the proximal part (21) relative to the distal part (22) can be adjusted; c. at least one detection device (60) for detecting muscle contractions; and d. a control device ( 50), the control device is coupled to the detection device (60) and the actuator (30), processes the (electrical) signal of the detection device (60) and adjusts the actuator (30) according to the signal, wherein the detection device (60) ) is arranged for detection of muscle co-contraction and is arranged on the user's limb and coupled to the control device (50); at least one muscle co-contraction is detected by the detection device (60); and said movement characteristics are determined by the actuator (30) according to The detected muscle synergy is altered.

Description

Method for controlling an orthopaedic or prosthetic device and orthopaedic or prosthetic device

Technical Field

The invention relates to a method for controlling an orthopaedic or prosthetic device that can be worn on the body of a user and can be fastened to the body of the user, comprising: an articulation device having a proximal part and a distal part, which are mounted on one another so as to be pivotable about a pivot axis; at least one adjustable actuator disposed between the proximal member and the distal member and by which a resistance to movement against oscillation of the proximal member relative to the distal member is adjustable; at least one detection device for detecting muscle contraction; and a control device, which is coupled to the detection device and the actuator, processes the signal of the detection device and adjusts the actuator as a function of the signal. The invention also relates to said orthotic or prosthetic device or said orthotic or prosthetic.

Background

Prosthetic devices or orthotics have the task of guiding or assisting the movement of the existing limb, or supporting and assisting the limb. The exoskeleton is also an orthopedic device. Orthopedic devices for lower limbs are known in various embodiments, so-called KAFO (knee and ankle orthosis) support not only the foot but also the ankle joint and the knee joint. The foot is usually placed on a footboard, one or more lower leg splints extend parallel to the lower leg, and the prosthetic knee joint is arranged approximately in the region of the natural knee axis. The fixing means for fixing the orthosis on the thigh are arranged on one or more thigh cleats. The fastening device can likewise be provided on the lower leg or on the foot rest, so that the orthosis can be fastened to the leg to be serviced accordingly. In the case of a prosthetic knee joint, the thigh splint is the proximal part and the calf splint is the distal part, and in the case of a prosthetic ankle joint, the foot part is the distal part and the calf splint or calf splints are the proximal parts. Dampers or drives can be arranged as actuators between the respective components in order to influence the course of movement and to vary the movement resistance. Increased resistance to movement may be provided by one or more motorized or accumulator-driven drives to dampen the movement or reduced resistance to movement may be provided by reduced dampening or assistance. The same applies to orthopedic devices, such as orthoses and exoskeletons for upper limbs.

The prosthesis replaces a limb that is not present and may have an artificial joint. A prosthesis of a lower limb may, for example, have a prosthetic knee joint which is connected to a prosthetic foot as a foot part via a lower leg tube as a lower leg part. The prosthetic ankle joint may be configured between the prosthetic foot and the lower leg tube. A prosthetic knee joint usually has an upper part and a lower part which are mounted on one another so as to be pivotable by means of a single-or multi-center joint arrangement, so that the upper part can be pivoted relative to the lower part about a pivot axis. At least one fixing device, for example for the thigh socket or in the configuration of a thigh socket, is arranged on the upper part, so that a prosthesis of a lower limb can be fixed on the user. With respect to the prosthetic ankle joint, the lower leg tube is the upper component and the prosthetic foot is the lower component. The actuators may be arranged between the respective upper and lower parts or between the proximal and distal parts, respectively, in order to vary the respective resistance to movement with respect to flexion and/or extension. As is implemented in connection with orthoses, the movement resistance can be increased or decreased by means of an actuator, for example by means of a passive, adjustable damper or a drive device, for example a drive device driven by an electric motor or an energy accumulator. In addition to prostheses for the lower limbs, corresponding prostheses for the upper limbs are also known. The above-mentioned features of the orthosis, prosthesis or exoskeleton can also be present in an orthopaedic or prosthetic device according to the invention.

An orthopedic knee joint is known from DE 102008008284 a1, which has an upper part and a lower part which is arranged pivotably on the upper part and to which a plurality of sensors, for example a bending angle sensor, an acceleration sensor, an inclination sensor and/or a force sensor, are assigned. The position of the extension stop is determined and adjusted accordingly on the basis of the sensor data.

DE 102009052887 a1 discloses a method for controlling an orthopedic or prosthetic joint having a resistance device and a sensor, wherein status information is provided by the sensor during use of the joint. The sensor detects a moment or force, wherein the sensor data are mathematically linked to one another from at least two of the measured variables and an auxiliary variable is calculated therefrom, which is based on the control of the bending and/or stretching resistance.

Furthermore, it is known from the prior art to detect muscle contractions of a user by means of electrodes, for example by means of surface electrodes or by means of implanted electrodes, in order to generate control commands on the basis of the detected muscle contractions, for example to activate or deactivate the drive. The myoelectric signal-based control is used in particular in prostheses for the upper limbs in order to control complex movements of the prosthetic hand.

The orthopaedic or prosthetic device of the lower limb is influenced primarily by movements and loads of the body or of the orthopaedic or prosthetic device, the resulting accelerations or forces or states are detected by sensors, and the determined damping characteristics are adjusted on the basis of the sensor signals. The intentional influence can only be achieved by changing the motion or system load. In the case of driven active orthotic or prosthetic devices, it is known to implement a procedure in which the components are moved relative to one another, for example to open or close the hands, or determined by pattern recognition control, by means of a proportional arrangement of the muscle activity and the drive. The contraction signal is detected to switch back and forth between different modes of operation.

Disclosure of Invention

The object of the present invention is to provide an orthopedic or prosthetic device and a method for controlling the same for a user, which provide the user with increased safety with at the same time a simple embodiment with as little expenditure as possible.

This object is achieved according to the invention by a method and an orthopedic or prosthetic device having the features of the independent claims, advantageous configurations and further aspects of the invention being disclosed in the dependent claims, the description and the drawings.

The method is used for controlling an orthopedic or prosthetic device that can be worn on the body of a user and can be fastened to the body of the user, having: an articulation device having a proximal part and a distal part, which are mounted on one another so as to be pivotable about a pivot axis; at least one adjustable actuator disposed between the proximal member and the distal member and by which a resistance to movement against oscillation of the proximal member relative to the distal member is adjustable; at least one detection device for detecting muscle contraction; and a control device, which is coupled to the detection device and the actuator, processes the signal of the detection device and adjusts the actuator as a function of the signal, wherein the detection device is provided for detecting a coordinated contraction of the muscles and is arranged on the limb of the user and is coupled to the control device; at least one muscle co-contraction is detected by the detection means; and the resistance to movement of the actuator is varied in dependence on the detected muscle contraction. Muscle-coordinated contractions are the simultaneous tensioning of the active and antagonistic muscles or of two oppositely acting muscles or muscle groups for stabilizing the joint. For example, when the biceps brachii and triceps muscles are simultaneously tensed, while the forearm does not move relative to the upper arm, but, or, depending on the level of contraction, the forearm moves more slowly relative to the upper arm than if the antagonistic muscle were not tensed, then there is a coordinated contraction of the muscles. The corresponding applies to the muscle tissue that stretches and bends the lower leg. If muscles or muscle groups acting in opposition to each other are simultaneously tensioned, a coordinated contraction of the muscles is involved. The coordinated contraction of the muscles serves to stabilize the joint or limb for maximum control or cessation of movement when exercising. The muscle contraction is performed intentionally or unintentionally. Unintentional cooperative contraction occurs, for example, as a reflection in the case of sudden obstacles such as a smooth road surface occurring, slippery ground surfaces, startling situations such as explosions, accidents or the like, or also for the purpose of preparing for a possibly dangerous situation, such as walking along a cliff or walking across a bridge. The fundamental stress in the muscular system is increased by the synergistic contraction of the muscles. If the simultaneous contraction of the respective muscles, i.e. the simultaneous tensioning of, for example, the biceps brachii and triceps brachii or, for example, the biceps femoris and quadriceps, is detected or detected by the detection device, a corresponding signal is transmitted by the detection device to the control device, which then changes the movement resistance of the actuator as a function of the detected muscle-coordinated contraction. The change in the movement resistance can be achieved, for example, by adjusting a valve in a hydraulic damper or a pneumatic damper. The braking may also be deactivated or activated or the additional resistance increased or decreased, for example, by an electric drive that is switched on or off or resists movement of the proximal member relative to the distal member. The basic setting of the actuator is preferably kept constant, i.e. the resistance curve or resistance profile set once is kept with respect to a specific movement or a specific load, i.e. the basic resistance characteristic is kept constant with respect to a movement. In selected muscles, in particular in the muscles responsible for carrying out the corresponding movements when the limb is still present, the muscle activity is detected by the detection means. If an intentional or unintentional muscular co-contraction is detected, a special case is inferred in which a change in the movement resistance is required. In contrast to the case of prosthetic control of the upper limb, the muscular co-contraction is not adjusted for switching to and entering a new operating mode, for example from an open-hand operating mode to a closed-hand operating mode, to be precise the same movement is still permitted, but the resistance is increased to such an extent to a further resistance level that the joint can no longer continue to move under normal loading conditions. This thus involves changing the original control behavior based on the detected cooperative contraction.

In one embodiment of the invention, the duration and/or intensity of the muscle cooperative contraction or the muscle cooperative contractions is detected and the resistance to exercise is varied in dependence on the duration and/or intensity of the muscle cooperative contraction or the muscle cooperative contractions. For example, in a longer lasting muscular co-contraction the resistance to movement is changed over a longer period of time. In the case of high muscle strength of coordinated contraction, an increased change amplitude can also be implemented compared to a lower muscle strength of coordinated contraction in order to change the movement resistance in a matched manner. The resistance to movement may for example be increased when a coordinated contraction of the muscles is detected, which corresponds to the effect of a coordinated contraction of the muscles in a healthy limb. If the user of, for example, an orthopedic or prosthetic device notices a change in the ground characteristics, for example a wet position on a flat floor, the resistance to movement, for example in the prosthetic knee joint or knee joint, is increased due to the synergistic contraction of the muscles, as a result of which the user obtains an increased sense of safety, since the joint device can be better controlled and positioned by the remaining muscle tissue. In the prosthesis, the control is then effected via the thigh stumps. In active orthopaedic or prosthetic devices, i.e. devices having a motorized or further drive means, the force of the auxiliary movement may be reduced, the resistance in the drive means increased or the drive means activated in reverse in order to prevent or hinder the distal and proximal parts from swinging relative to each other.

The resistance to movement can be increased more and more as the strength of the muscle-assisted contraction and/or the duration of the muscle-assisted contraction increases, so that a proportional change in the resistance to movement can be carried out by detecting the time profile of the strength of the muscle-assisted contraction and/or the duration of the muscle-assisted contraction. The change is increased if the intensity is increased within the contraction period. It is likewise possible, independently of the strength of the cooperative contraction, for the resistance to movement to be increased in the presence of the cooperative contraction for as long as the contraction lasts, i.e. for a longer cooperative contraction duration a greater change is carried out than in the case of a short cooperative contraction duration. Alternatively or additionally, the resistance may be reduced at the end of a coordinated contraction and/or when a further coordinated contraction is detected and/or by an active trigger and/or a voice command. All variants can be used individually or also jointly or in any combination.

A further development of the invention provides that the resistance is first increased very quickly, i.e. a steep increase in resistance is carried out, wherein the decrease in resistance is carried out slowly, at least more slowly than the increase, i.e. the decrease in resistance is carried out less steeply.

The change in the resistance to movement may be added to a preset control program. Modern orthoses or prostheses usually have actuators which are controlled by sensors to provide different resistance to movement, in order to adjust different flexion and extension resistances in the respective walking phases, for example, in a walking cycle. By means of position, force, moment, angle and acceleration sensors and other sensors, the current state of the prosthesis, orthosis or exoskeleton can be detected and a resistance characteristic matched to the state or movement characteristic can be provided. The control program may also be maintained in principle when a coordinated contraction of the muscle is detected, i.e. the existing damping or drive scheme may remain unchanged in principle on the basis of the respective sensor. Only the level of resistance or the duration of the different resistances is influenced on the duration of the muscular co-contraction. The resistance profile over time can be varied in the usual control program in terms of amplitude and/or in terms of time magnitude by varying the movement resistance as a result of the detected muscle contractions in coordination. This increases the stability of the respective joint device as a whole and thus also the stability of the orthopaedic or prosthetic device. When the muscle cooperative contraction is cancelled, the preset standard program is activated again.

In principle, it is also possible to use a change in the movement resistance also in actuators which do not have a control method which is otherwise controlled by a sensor, but rather have a defined damping or movement resistance characteristic, for example, in a fixed setting for the respective user.

The change in the movement resistance can influence the magnitude of the movement resistance, i.e. the amplitude of the movement resistance and/or the duration of the movement resistance, i.e. the time profile over the movement period.

In one embodiment, the muscle contraction and thus the cooperative contraction of the muscle are also detected by the detection device as an electromyographic signal, a pressure signal, an inductively generated signal and/or a photoelectrically generated signal and transmitted to the control device. The control device is designed as a data processing device and has a processor or a computer which processes electrical signals. The signals are generated by sensors or detectors that exploit different physical, chemical or biological effects. The detection means may for example have surface electrodes for detecting electromyographic signals. Electromyographic signals are generated when muscles contract. The advantages of surface electrodes are easy operability, reversible placement, adaptability to the respective user and non-invasive properties. However, the surface electrodes may slip off and must usually be arranged accurately in order to provide sufficient signal quality. It is also possible to switch in an electrical potential via an implant in the muscle and to transmit said electrical potential via an interface or wirelessly to a receiver, which then transmits the signal in electrical form to the control device. It is also possible for the pressure sensors to be arranged on or in the respective muscles. The shape of the muscle changes due to the contraction of the muscle, which in turn leads to a change in the pressure on, for example, a strap, a buckle strap or a receiving tube for the stump, for example, a thigh tube. The sensor can likewise be placed externally on the muscle or limb, for example prestressed by means of a belt or by means of an elastic belt, in order to detect a corresponding pressure change. The change in translucency can also be used to detect muscle contraction. There is the possibility of placing the coil in a cartridge and implanting the implanted electrode micro-invasively into the muscle tissue. The implanted electrode is inductively supplied with energy by the coil or coils in the cartridge and the correspondingly detected data is transmitted wirelessly or by wire via the coil or coils to an evaluation unit, which then transmits the data to a control device. In principle, muscle activation is measured by electrodes, sensors or probes. The cooperative contraction and the strength and duration of the cooperative contraction are determined in a computing unit from the electrical signals and a control algorithm is adjusted based on the information.

In one variant of the invention, the raw signals detected by the detection device, for example the surface electrode assembly, the implant, the pressure sensor device, the optical sensor device and/or the inductively operating sensor device, are processed in a preprocessing unit and the processed signals are first transmitted to the control device. The preprocessing of the raw signals of the respective sensors or detectors takes place, for example, in a microcontroller or in a separate computing unit, which is located in the vicinity of or arranged in structural association with the detection device and the detector. The pre-processing unit may, for example, be arranged on one of the components, for example the proximal component, and be coupled with the control device wirelessly or by a wired connection. In one embodiment, the preprocessing unit only transmits information relating to the control method, for example the strength of the cooperative contraction and the duration of the cooperative contraction or only the signal of the presence of the cooperative contraction, to the control device, so that the actual control unit, which also performs additional control tasks if necessary, does not have to be loaded in the case of processing the raw signal. The signals thus easily processed, preprocessed, are supplied to the control device, which can be easily integrated into existing control algorithms. The detection device and the pretreatment unit can be designed as modules and serve as additional components for an existing control device. The module may have its own accumulator. In addition to the high flexibility achieved by the modular construction, it is also achieved that the battery operating time of the existing control device is not negatively influenced with additional functionality.

Not only the tensioning of the active and antagonistic muscles, but also the simultaneous tensioning of multiple muscle groups fulfilling different or separate functions is considered to be a coordinated contraction. If, for example, one of the muscles no longer has a antagonist/voluntary pair, it can be determined that the further muscle or the further muscle group is activated as a antagonist of the remaining muscles. If, for example, the quadriceps or quadriceps femoris is present, but the biceps femoris or biceps femoris is not present, the original coordinated contraction is not possible, so that instead of this coordinated contraction, a contraction of the abductor and/or abdominal muscles can be introduced in order to obtain a coordinated contraction signal for control.

An orthopedic or prosthetic device capable of being worn on and secured to the body of a user, the orthopedic or prosthetic device having: an articulation device having a proximal part and a distal part, which are mounted in a manner such that they can pivot about a pivot axis; at least one adjustable actuator disposed between the proximal and distal members and by which a resistance to movement against oscillation of the proximal member relative to the distal member is adjustable; at least one detection device for detecting muscle contraction; and a control device, which is coupled to the detection device and the actuator, processes the signals of the detection device and adjusts the actuator as a function of the signals, the orthopaedic or prosthetic device being provided such that the detection device is used to detect a coordinated contraction of the muscle, and the control device being provided to carry out the method as described above. By means of the orthopedic or prosthetic device, such as an orthosis, exoskeleton or prosthesis, it is possible to vary the resistance level of the adjustable actuator in a deliberate or unintentional manner in accordance with the situation and to incorporate existing control programs in order to adapt the increased safety requirements for the user in a simple manner and intuitively. The joint becomes less mobile because relative oscillation of the proximal and distal members becomes difficult or prevented, thereby allowing the user better control through the device.

The detection device may be designed as a surface electrode assembly, an implant, a pressure sensor device, an optical sensor device and/or as an inactive working sensor device. The arrangement of the detection device is designed such that a coordinated contraction of the muscle can be detected. For this purpose, a corresponding sensor or detector is arranged at the respective muscle or is coupled to the respective muscle, for example by a correspondingly prepared implant, so that a muscle contraction can be detected, a coordinated contraction determined and a corresponding change effected in the actuator.

In one embodiment, the detection device may be integrated in the proximal part and/or the distal part. In the case of a prosthesis, the proximal component is for example a receiving sleeve for the stub portion. The sensor may be fixedly mounted in the receiving cylinder and/or arranged in the prosthesis sleeve. The recess or the perforation for positioning the electrode or the further sensor can also be formed in the cartridge or the further receiving device for the body part, so that different sensors or sensors can be fastened to the proximal part interchangeably and adapted to the respective user. The surface electrodes can be laminated or permanently fixed on the inside of the cylinder. A separate control device or preprocessing unit, which optionally has its own energy supply, can likewise be integrated in or fastened to the cartridge or proximal part in order to process, evaluate the sensor data with respect to the respective muscle contraction and transmit the processed data to a control device, which then correspondingly supplies control signals for changing the movement resistance to the actuator.

In one embodiment of the invention, at least one sensor for detecting forces, angles, positions, accelerations and/or moments is arranged on the orthopedic or prosthetic device and is coupled to the control device. The respective sensor can be designed as a strain gauge, an angle sensor, an inertial angle sensor, an acceleration sensor or a torque sensor. When the sensor can detect a plurality of variables or variables, then said variables or variables can be detected by only one single sensor, in other cases a plurality of sensors are required for detecting different variables or variables. By means of this sensor or by means of these sensors and the sensor values detected thereby, signals can be generated in order to adapt the actuator to the respective movement state, movement situation, load state and/or user by means of the control device.

The detection device can be coupled to the preprocessing unit in order to be able to detect muscle contraction data and transmit the processed data to a control device, which can thus work faster and more efficiently.

The detection device and the preprocessing unit can be designed as a common module and can be fastened to the orthopaedic or prosthetic device or at the user in order to be coupled to the control device. It is thereby possible to equip existing orthopaedic or prosthetic devices, such as prostheses, exoskeletons and prostheses, and to add detection devices and preprocessing units.

Drawings

Embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the drawings:

figure 1 shows a schematic view of a prosthetic device in the form of a prosthetic knee joint;

fig. 2 shows a variant of the prosthetic device according to fig. 1;

FIG. 3 shows a schematic diagram of a variant with a pre-processing unit;

FIG. 4 shows a schematic diagram of resistance change when walking on a flat surface;

FIG. 5 shows a schematic diagram of resistance change when walking down a hill;

FIG. 6 is a view showing the case of unintentional cooperative contraction; and

fig. 7 shows a schematic diagram of a resistance curve.

Detailed Description

Fig. 1 shows schematically a prosthetic device 10 in the form of a prosthetic knee joint having a thigh socket 11, which is fixed on a patient. The thigh canister 11 can be fixed on the thigh stump, for example by suction techniques, clamping, osseointegration fixation or in other ways and methods by different mechanisms. A joint arrangement 20 in the form of a prosthetic knee joint having a proximal part 21 with a connection piece for fixing on the thigh sleeve 11 is arranged on the distal end of the thigh sleeve 11. The distal part 22 in the form of a lower leg part is mounted on the proximal part 21 so as to be pivotable about a pivot axis 25. The pivot axis 25 is in the exemplary embodiment shown configured as a knee joint axis, which is provided in other applications, for example in prosthetic ankle joints or in prosthetic or orthopedic devices on the upper limb. The replacement prosthetic device 10 can also be provided with an orthopedic device in which, instead of replacing a limb, assistance is achieved with a limb having a still existing natural joint. In lap-knee orthoses, the thigh splint is secured to the thigh and the calf splint is secured to the calf, for example by buckles, straps or sleeves. The thigh splint and the calf splint are coupled to each other swingably about an axis by the prosthetic knee joint. In the ankle orthosis, the proximal part is a lower leg splint and the distal part is a foot part which is arranged on a natural ankle joint axis in the region of the latter by way of a joint energy pendulum. An orthopedic device is also understood as an exoskeleton.

The actuator 30 is arranged between the proximal part 21 and the distal part 22, in the embodiment shown the actuator 30 is arranged mainly on the distal part 22 and is integrated in the housing. Actuator 30 may be designed as a resistance device, such as a hydraulic damper, a pneumatic damper or a magnetic damper. It is also possible for the actuator to be designed as a motor drive, for example as an electric motor drive, a hydraulic drive or a pneumatic drive. In the embodiment of the actuator 30 as a drive, the actuator can also be switched to a resistance device, for example, in such a way that the electric motor is driven in generator mode. A stent is arranged on the proximal part 21, which stent is coupled by a link or a push rod to a resistance or drive means, i.e. the actual actuator 30, wherein the actuator 30 is connected to the distal part 22 at the other end of the link or push rod.

The proximal part 21 performs an oscillating movement relative to the distal part 22, in the position shown, the joint means 20 being in a maximally extended, i.e. straightened, position. Starting from this position, a flexion movement is carried out in which the rear side of the proximal part 21 is pivoted in the direction of the rear side of the distal part 22, so that the angle between the two

parts

21, 22 on the rear side decreases in flexion and increases in extension, i.e. in a straightening movement. As the flexion angle increases, the knee angle decreases. In order to be able to execute pivoting movements during walking, which are adapted to the respectively present walking situation, both in the flexion direction and in the extension direction, the actuator 30 is designed to be adjustable in order to influence the movement behavior during flexion and/or extension. By increasing the flexion resistance, it is possible, for example, to adjust the maximum flexion angle or the minimum knee angle, and it is likewise possible to provide an increase in resistance during the extension movement close to reaching the maximum extension position, in order to avoid the hard stop leaning into the extended position. It is also possible for the actuator 30 to be designed to assist in movement, i.e. as a drive device, in order to initiate or assist in flexion and/or extension movements.

In order to adjust the actuator 30 and to influence the resistance provided or the assistance provided, the actuator 30 is coupled to a control device 50, which in the exemplary embodiment shown in fig. 1 is integrated in the distal end region of the prosthesis cartridge 11. Data processing devices, connections, contact surfaces, interfaces and/or energy stores are arranged in the control device in order to process the input sensor data or data of the detection device 60. In the embodiment shown in fig. 1, the detection device 60 is designed as a surface electrode assembly, which is fixed to the thigh drum 11 and the thigh by means of a strap 12. The surface electrodes 60 detect an electromyographic signal upon contraction of the thigh muscle tissue and transmit it to the control device 50 by cable or also wirelessly. Additionally, at least one sensor 40 is arranged on the distal prosthetic component 22 in order to detect further data with respect to the existing loads, forces, moments, angular positions, accelerations and/or spatial positioning and to transmit said further data to the control device. However, the sensor 40 does not need to carry out the method, but is advantageous as a supplement.

The detection means 60, having a plurality of surface electrodes arranged on the periphery of the stump, enables the detection of muscle contractions in respect of electromyographic signals. Instead of an arrangement on the strip 12, surface electrodes can also be integrated in the prosthesis cartridge 11. The detection device 60 and the surface electrodes thereon are arranged and configured such that different muscle groups can be detected with respect to their activity. It is thereby possible to detect muscles responsible for or involved in the reverse movement, such as the quadriceps for stretching and the biceps femoris for flexion, and to detect a coordinated contraction of the muscles, i.e. a simultaneous tensioning of the muscle groups. Muscle-coordinated contractions occur not only in the muscles or muscle groups that act against the muscles. Synergistic contractions can also be generated and detected when muscle groups that are not related to each other, such as abdominal muscle tissue, are tensioned with the hip flexors or biceps hami muscles.

Fig. 2 shows a variant of the prosthetic device, in which, in addition to the sensor 40 for detecting status information, for example forces, moments, angular positions in space or accelerations, a further sensor device 40 is arranged on the thigh tube 11. The sensor device 40 is also coupled to a control device 50, which in the exemplary embodiment shown is integrated in the thigh tube 11. The control device 50 has an integrated energy storage unit, for example a battery or a battery. In the exemplary embodiment shown, the detection device 60 is designed as a plurality of, i.e., at least two, implantable electrodes which are implanted at different locations in the muscle tissue of the thigh. Muscle activity is detected by the implanted electrodes 60 by detecting electrical potentials, but alternatively by detecting pressure, temperature, flow rate, the effect of optical properties of the components, or the like. The data detected by the implant can be received by the coil arrangement 61, which is arranged on the thigh drum 11 or integrated therein, and transmitted to the control device 50. It is also possible that the detection device 60 is designed as an implanted element and a coil 61 or a combination of coils 61 in order to detect muscle contractions and in particular muscle contractions in conjunction by the inductive effect produced during muscle contraction.

At the distal end of the prosthesis shaft 11, an interface 51 to the joint device 20 is arranged, via which sensor data relating to the coordinated contraction of the muscles and, if necessary, sensor data from the sensor 40 on the thigh shaft 11 can be transmitted to the actuator 30. The sensor data of the sensor 40 on the distal prosthetic component 22 are also transmitted to the control device 50 via the interface 51. The actuator 30 is then controlled and influenced in dependence on the presence of a muscular co-contraction, for example by adjusting a valve, a throttle cross section, by activating an electromagnet for influencing the magnetorheological fluid, by braking a motor and/or by activating a drive.

Fig. 3 shows a further variant of the invention with a basic structure corresponding to one of fig. 1 and 2. The thigh sleeve 11 is detached from the proximal part 21 and the mechanical connection of the thigh sleeve 11 to the joint arrangement 20 may be realized by a pyramid adapter as shown. In the embodiment according to fig. 3, the detection device 60 is in turn designed as an implantable electrode assembly with a coil 61. Alternatively or additionally, it is possible, as shown in fig. 1, for the surface electrodes to be arranged at predetermined points in recesses inside the prosthesis shaft 11 and to be fastened by means of a band 12 or to be fastened inside the prosthesis shaft 11. The electrodes are held in place and pressed with sufficient pressure against the skin surface by a band 12, which may be designed as an elastic band. The thigh socket 11 is itself electrically conductively connected to the prosthetic joint 20 in order to transmit data of the detection device 60 to the joint device 20 and in particular to the actuator 30.

As shown in fig. 2, the implanted electrode 60 can be inductively supplied with energy by a coil 61 on or in the thigh shell 11 and arranged such that the electrode is located within the field of the coil 61 during use. Data transmission is likewise effected via the coil 61. According to the embodiment of fig. 3, the detection device 60 is first connected to a preprocessing unit 70, to which the raw data of the electrodes 60 are transmitted. Instead of an implanted electrode 60, this can also be achieved by a surface electrode according to fig. 1. The raw data are processed in a preprocessing unit 70, for example in a data processing device or in a microcomputer, which is arranged in the preprocessing unit 70 with its own energy supply. The data are processed in a microcontroller, which may be arranged directly on the thigh barrel 11, for example may be integrated in the distal connection of the thigh barrel 11, in order to continue to transmit only relevant or vital information. The processed data is transmitted by the preprocessing unit 70 to the prosthetic knee joint 20, for example, via a data connection electrically coupled to the proximal prosthetic component 21 via the femoral sleeve 11. The processed and preprocessed raw data of the detection device 60 are transmitted to the control device 50, by which the impedance or resistance or drive of the actuator 30 is then controlled. Sensor data from the upper and/or lower part of the sensor 40 can also be transmitted to the control device 50.

The pretreatment unit 70 can be designed together with the detection device 60 as a module, which can be arranged in an already existing prosthesis cartridge 11. In the implantable electrode 60, the electrode 60 is, for example, matched to the coil 61 and the pretreatment unit 70 and is constructed modularly.

The detection means 60, 61 and/or the preprocessing unit 70 can be designed to be closable, so that the prosthetic device 20 can also function normally without the control means 50 on the basis of the detected muscle contractions in coordination. Preferably, the detection device and/or the preprocessing unit 70 are designed to be plug-and-play, so that costly coordination methods between the individual components are no longer necessary.

The basic principle of control is similar in all embodiments, muscle activation is measured and detected by a detection means 60, such as surface electrodes or implanted electrodes. It is determined in the preprocessing unit 70 or in a calculation unit in the control device 50 whether a muscle co-contraction is present. The strength and duration of the corresponding muscle contraction is determined. Based on the measured muscle contractions, which simultaneous muscle contractions can be stored in the control device 50 as muscle-coordinated contractions, it is fixed by the control algorithm whether and how the actuators 30 are activated or deactivated, i.e. whether a resistance change or a motor assistance should be performed. The configuration of the contraction signal is effected by setting the control and the adaptation to the user. Depending on the position of the respective detection device 60, it can be determined which muscle or which muscle group causes the respective contraction signal.

If the preprocessing unit 70 is assigned to the control device 50 or the actuator 30 or is connected upstream of said control device or actuator, the processed data, for example the strength of the coordinated contraction and the duration of the muscle contraction, are transmitted to the joint device 20, so that the joint device 20 is provided with an easily processable signal which can be easily integrated into the control process. This reduces the control effort and prolongs the service life of the prosthetic or orthopedic device, since the signal processing does not adversely affect the service life of the joint device 20 when used and, if necessary, when the detection device 60 is added. In particular, if the pretreatment unit 70 can be retrofitted and has its own energy supply, the service life of the prosthetic joint 20 is not negatively influenced. If necessary, the overall service life of the orthopaedic or prosthetic device 10 can be extended by simply replacing the pretreatment unit 70 with its own energy supply.

Fig. 4 shows a schematic representation of the change over time of the movement resistance R and the flexion angle α as a function of the detected muscle contraction signals. A step cycle is shown that begins with Heel Strike or Heel Strike and ends with the end of the swing phase near Heel Strike. First the flexion angle increases, that is, the knee joint angle decreases. So-called stance-phase flexion is carried out after heel strike in order to avoid transmitting forces through an extended leg, for example an extended prosthesis or orthosis, after heel strike. Thereby damping the ground motion and achieving easy flexion of the artificial knee joint. After the foot or prosthetic foot has fully landed, maximum extension takes place during the so-called roll-over until the end of the stance phase, in which the flexion movement has already started, when the knee joint is maximally flexed, the maximum extent of the flexion movement in the swing phase is reached. Then a reversal of motion is made and the knee joint is extended. This is shown in dashed lines. The resistance R to flexion for walking in a plane increases to a high level after heel strike in order to prevent the knee joint from bending unintentionally. The resistance R is also maintained at an increased level after reaching the roll-over and beginning the ongoing stance phase extension, in order then to decrease to a low level in the beginning ongoing forefoot load, in order to achieve flexion to start the swing phase. The flexion resistance R increases during the swing phase during the continuation of walking, in order to not excessively increase the flexion, as a result of which the knee joint can be extended at the end of the swing phase. Near the reaching of the reversal of the movement, the flexion resistance R does not continue to be increased and after reaching the maximum flexion angle decreases to the level required for damping the movement in the stance phase flexion. The increased level of flexion damping at the end of the swing phase contributes to the safety of the user so that unintentional flexion of the knee joint is not possible during tripping.

If a muscular co-contraction is detected, as shown in the lower view of fig. 4, which can be seen at high amplitudes in both directions, the flexion resistance R changes, in the embodiment shown increases, which is shown by the dashed line. When an obstacle is felt or seen or a flat surface is recognized, for example, a coordinated contraction may occur unintentionally. An increased resistance against bending of the knee joint is already provided when the foot or prosthetic foot lands, whereby the maximum attainable flexion angle α is reduced, which is likewise indicated by the dashed line. In the illustrated embodiment, the movement influence is effected by increasing the flexion damping more strongly and earlier in the phase of flexion in the stance phase. Whereby the degree of movement, i.e. the maximum flexion angle alpha, is reduced and the knee joint becomes stronger and less mobile. The resistance R can likewise be increased earlier and more strongly during the swing phase in conjunction with the contraction, so that the flexion angle is increased less quickly and the maximum swing phase flexion is also reduced. The knee joint swings less strongly and thus enters full extension earlier and faster. Thereby providing increased safety for the user.

Fig. 5 shows a variant of the control method for downhill walking. The standard curve of the flexion damping R is also shown here in solid lines, as is the knee angle curve α without control of the coordinated contraction. In the standard method, the flexion damping R is increased as the bending is continued in the stance phase until flexion is prevented. Then a so-called plateau phase occurs, from which the flexion damping R is reduced to a high level in the intermediate stance phase to allow continued bending, however with a more gradual increase in the flexion angle, in order to allow the remaining swing phase after heel lift off and the prosthesis unloaded and to be ready for the next heel strike. If the muscular co-contraction as shown in the lower view of fig. 5 is measured, the resistance can accordingly be increased earlier or held at a higher level for a longer time, so that the knee joint bends later or slower and is generally provided with a higher level of damping against flexion.

In addition to the above-described embodiment in which the movement behavior is controlled by varying the damping, it is possible to influence the movement behavior by means of further actuators or resistance devices. The characteristics of the system, the force resisting the motion, are considered to be the motion effect. This can be achieved by mechanical elements, for example spring elements with a defined stiffness and zero point, damping elements acting in proportion to the speed, friction elements and/or masses. The movement influence can likewise be achieved by means of motors, hydraulic or pneumatic dampers, spring elements, piezoelectric elements, hydraulic or pneumatic drives or combinations of said elements or components. The active drive achieves the greatest possible influence, for example the electric motor can simulate elastic properties and influence the perceived inertia of the joint or the prosthetic or orthopedic device and generate a velocity-dependent force.

In fig. 6, an example of an intentional or unintentional coordinated contraction is shown, which occurs, for example, when an obstacle occurs, when a danger due to an animal, a person or a machine is recognized, on a slippery surface, when a dangerous situation suddenly occurs or in an area of unsafe or dangerous environmental conditions. The conditioned reflex muscle contractions or also the conscious muscle contractions effect that the control method is influenced by muscle activation, wherein the basic manner of the control method is preferably maintained, only the properties in terms of intensity and duration are changed or influenced. Influencing the movement behavior in particular by means of a muscular co-contraction has the advantage that said muscular co-contraction can be carried out not only intentionally but also unintentionally, whereby conditioned reflexes of the person in the perception of the surroundings can advantageously be exploited for controlling the orthopaedic or prosthetic device.

Fig. 7 shows a diagram of the resistance R over time. If, for example, it is determined that an increase in resistance is required to resist the coordinated contraction of the bend, the resistance R is increased very quickly from the base resistance. After reaching the maximum value of the resistance, for example after a coordinated reduction of the contraction or when a situation is detected in which the control causes a further reduction of the resistance, a slow reduction of the resistance R is first carried out, so that a gradual reduction of the resistance with respect to time is achieved. Thereby preventing a rapid decrease in resistance from causing a loss of balance and resulting in an unsafe condition for the user.

Claims

Claims 1. A method for controlling an orthopaedic or prosthetic device (10) which can be worn and secured on a user's body, said orthopaedic or prosthetic device The body device has:

a. Joint device (20), which has a proximal part (21) and a distal part (22), which are pivotably supported on a pivot axis (25) on each other;

b. At least one adjustable actuator (30) arranged between said proximal part (21) and said distal part (22) and by means of which actuator can be adjusted with respect to said the movement characteristics of the proximal part (21) relative to the rocking motion of the distal part (22);

c. at least one detection device (60) for detecting muscle contraction; and

d. A control device (50), which is coupled to the detection device (60) and the actuator (30), processes the (electrical) signals of the detection device (60) and adjusts the said actuator (30),

It is characterized in that,

The detection device (60) is configured to detect the cooperative muscle contraction and is arranged on the user's limb and coupled with the control device (50); at least one muscle cooperative contraction is detected by the detection device (60); And the movement characteristics are changed by the actuator (30) according to the detected muscle synergistic contraction.

2 . The method according to claim 1 , wherein the duration and/or intensity of the coordinated muscle contraction is detected, and the movement characteristic is changed according to the duration and/or intensity of the coordinated muscle contraction. 3 .

3. The method according to claim 1 or 2, characterized in that the actuator (30) provides resistance to movement against swinging and increases the resistance to movement upon detection of synergistic muscle contractions.

4. The method according to any one of the preceding claims, characterized in that the resistance to movement is increased more and more as synergistic contraction intensity and/or synergistic contraction duration increases, and/or as synergistic contraction intensity increases and/or when the duration of the synergistic contraction is reduced and/or at the end of the synergistic contraction and/or when an additional synergistic contraction is detected and/or by means of an active trigger and/or voice command to reduce the resistance to movement.

5. The method of claim 4, wherein the movement resistance increases faster than the movement resistance decreases.

6. The method according to any of the preceding claims, characterized in that the change in the kinematic characteristics is added to a preset control program.

7. The method according to claim 6, wherein the change affects the magnitude of the motion effect and/or the duration of the motion effect.

8. The method according to any one of the preceding claims, characterized in that the muscle contraction is performed by the detection device (60) as an electromyographic signal, a pressure signal, an inductively generated signal and/or a photoelectrically generated signal transmitted to the control device (50).

9. The method according to any of the preceding claims, characterized in that at least one sensor (40) detects forces, angles, positions, accelerations and/or moments on the orthopaedic or prosthetic device (10), A sensor signal is transmitted to the control device (50) and the movement characteristic is changed based on the sensor signal.

10. The method according to any of the preceding claims, characterized in that the raw signal detected by the detection device (60) is processed in a preprocessing unit (70) and transmitted in processed form to the control device (50).

11. The method according to any one of the preceding claims, wherein the detected synergistic muscle contractions are checked for confidence, and the changes in the movement characteristics are checked in the absence of confidence. Reject or return.

12. An orthopaedic or prosthetic device (10) which can be worn and secured on a user's body, the orthopaedic or prosthetic device having:

c. at least one detection device (60) for detecting muscle contraction; and

d. A control device (50), which is coupled to the detection device (60) and the actuator (30), processes the signal of the detection device (60) and regulates the actuator according to the signal (30),

It is characterized in that,

The detection device (60) is provided for detecting a coordinated muscle contraction, and the control device (50) is provided for carrying out the method according to any of the preceding claims.

13. The orthopaedic or prosthetic device according to claim 12, characterized in that the detection device (60) is designed as a surface electrode assembly, an implant, a pressure sensor device, an optical sensor device and/or an inductively working sensor device.

14. The orthopaedic or prosthetic device according to claim 12 or 13, characterized in that the detection device (60) is integrated in the proximal part (21) and/or the distal part (22).

15. The orthopaedic or prosthetic device according to any one of claims 12 to 14, characterized in that at least one sensor (40) for detecting forces, angles, positions, accelerations and/or moments is arranged in the On the orthopaedic or prosthetic device (10) and coupled to the control device (50).

16. The orthopaedic or prosthetic device according to any one of claims 12 to 15, characterized in that the detection device (60) is coupled to the preprocessing unit (70).

17. The orthopaedic or prosthetic device according to claim 16, characterized in that the detection device (60) and the preprocessing unit (70) are designed as a common module.

18. The orthopaedic or prosthetic device according to claim 16 or 17, characterized in that the detection device (60) and/or the preprocessing unit (70) are designed to be closed and/or pluggable ready to use.

19. The orthopaedic or prosthetic device according to any one of claims 12 to 18, characterized in that the actuator (30) is designed as a resistance device or a drive device.